Oak d lite imu

SI-Truth

Hello,

I built depthai-core and run the tests but the imu one fails saying there is no imu. The sku is A00532 and the website lists this as having the bmi270. What might be going on? How might i update the firmware as suggested by the imu examples?

Many thanks

erik

Hi SI-Truth ,
When did you purchase the OAK-D-Lite? Could you share its MXID? Initial batches (including Kickstarter one) didn't have an IMU, as mentioned here: https://docs.luxonis.com/projects/hardware/en/latest/pages/DM9095.html#integrated-imu
Thanks, Erik

SI-Truth

erik hi, i am aware about the kickstarter units, but i bought it a couple of days ago from mouser. How do I obtain the mxid?

erik

Hi SI-Truth ,
Mouser doesn't do purchases that often, so it's possible you got it from an old batch (and it was just sitting at mouser for some time). You can check MXID here.

SI-Truth

erik hi thank you, ill give that a go as soon as I'm back on the pc.

SI-Truth

erik

Hi sorry for the delay, the ID is as follows:

18443010F1B19F1200

erik

Hi SI-Truth , Looking at the internal files, unfortunately, it does appear you've gotten a bit older batch.

SI-Truth

That is quite annoying, is there anything that can be done other than sending it back to mouser?

erik

SI-Truth unfortunately, not really, the device itself doesn't have IMU and it would be quite a challenge to solder it (+ all passive components) to the PCB.

SI-Truth

Ok thanks Eric, i have a seperate imu that i may interface with a pi3. Perhaps it is possible to synchronise that across i2c and if so could you forward a link on how to do it.

Speaking of which can you offer guidance on running orb slam3 on a53 cores with the camera? I just compiled ros noetic and all ancilliary components but the performance seems to be very poor. Do you have any advice on optimising orb slam 3 performance??

Currently running in stereo not stereo inertial mode.

Cheers!

erik

Hi SI-Truth ,
We have some docs on SLAM here: https://docs.luxonis.com/en/latest/pages/slam_oak/
I don't think it would be possible to sync outside IMU. Perhaps it would be best to sync on host via timestamps.

SI-Truth

Cheers for that! Ill check it out. Any additional info abour ORB performance? I am effectively running it on what you say will be in your rcv3 eventually.

erik

SI-Truth we are working on porting VIO/sparse SLAM on RVC3 at the moment, which will also be shipped together with the RAE. I believe it's still WIP, and will be released in the coming weeks. Thoughts?

SI-Truth

I am definitely looking forward to RAE. The hardware you mention is similar to what I am using now as far as I understand, so that's why I am curious about performance characteristics. As far as I understand the oak camera should help accelerate these algorithms due to the pre-processing done by the movidius processor but the performance on my rock cm3 is pretty poor. In fact I am getting this error.

black screen and "waiting for images" when trying mono with USB camera · Issue #501 · UZ-SLAMLab/ORB_SLAM3 · GitHub

I have reduced the resolution as suggested but still no luck. Is there something else? Do your drivers feed into ORB the pre processed data streams? Would RTAB run faster? unfortunately the oak lite cam i received doesnt have an IMU for me to try it though.

erik

Hi SI-Truth ,
I am not exactly sure which SLAM framework we plan to use, I think we are currently evaluating RPG SVO PRO, but I might be wrong. We plan to port some operations on HW-accelerated blocks (SHAVE cores) as well.

SI-Truth

That's good to know. In the current implementation in the examples you get stereo edge detection. Do we know if this output is being used by the SLAM algorithms?

Thanks for your help!

cycob

For anyone wondering if their unit has an IMU (mine does not - kickstarter model):

test_imu_present.py:

#!/usr/bin/env python3


import depthai as dai

# Create pipeline
pipeline = dai.Pipeline()

# Define sources and outputs
imu = pipeline.create(dai.node.IMU)
xlinkOut = pipeline.create(dai.node.XLinkOut)

xlinkOut.setStreamName("imu")


# Pipeline is defined, now we can connect to the device
try: 
    device = dai.Device(pipeline) 
    print("IMU detected")
except Exception as e:
    print(e)
    with dai.Device() as device:
        print("Device MxID: ", device.getMxId())